FP_A-ODOMETRY

1

msg_type

String

-

ODOMETRY

Message type, always ODOMETRY for this message

2

msg_version

Numeric

-

2

Message version, always 2 for this version of the ODOMETRY message

3

gps_week

Numeric

-

2231

GPS week number, range 0–9999

4

gps_tow

Float (.6)

s

227610.750000

GPS time of week, range 0.000–604799.999999

5

pos_x

Float (.4)

m

4279243.1641

Position in ECEF, X component

6

pos_y

Float (.4)

m

635824.2171

Position in ECEF, Y component

7

pos_z

Float (.4)

m

4671589.8683

Position in ECEF, Z component

8

orientation_w

Float (.6)

-

-0.412792

Quaternion with respect to ECEF, W component

9

orientation_x

Float (.6)

-

0.290804

Quaternion with respect to ECEF, X component

10

orientation_y

Float (.6)

-

-0.123898

Quaternion with respect to ECEF, Y component

11

orientation_z

Float (.6)

-

0.854216

Quaternion with respect to ECEF, Z component

12

vel_x

Float (.4)

m/s

-17.1078

Velocity in output frame, X component

13

vel_y

Float (.4)

m/s

-0.0526

Velocity in output frame, Y component

14

vel_z

Float (.4)

m/s

-0.3252

Velocity in output frame, Z component

15

rot_x

Float (.5)

rad/s

0.02245

Bias corrected angular velocity in output frame, X component

16

rot_y

Float (.5)

rad/s

0.00275

Bias corrected angular velocity in output frame, Y component

17

rot_z

Float (.5)

rad/s

0.10369

Bias corrected angular velocity in output frame, Z component

18

acc_x

Float (.4)

m/s²

-1.0385

Bias corrected acceleration in output frame, X component

19

acc_y

Float (.4)

m/s²

-1.3707

Bias corrected acceleration in output frame, Y component

20

acc_z

Float (.4)

m/s²

9.8249

Bias corrected acceleration in output frame, Z component

21

fusion_status

Numeric

-

4

Fustion status, see below

22

imu_bias_status

Numeric

-

1

IMU bias status, see below

23

gnss1_fix

Numeric

-

8

Fix status of GNSS1 receiver, see below

24

gnss2_fix

Numeric

-

8

Fix status of GNSS2 receiver, see below

25

wheelspeed_status

Numeric

-

1

Wheelspeed status, see below

26

pos_cov_xx

Float (5)

m²

0.01761

Position covariance, element XX

27

pos_cov_yy

Float (5)

m²

0.02274

Position covariance, element YY

28

pos_cov_zz

Float (5)

m²

0.01713

Position covariance, element ZZ

29

pos_cov_xy

Float (5)

m²

-0.00818

Position covariance, element XY

30

pos_cov_yz

Float (5)

m²

0.00235

Position covariance, element YZ

31

pos_cov_xz

Float (5)

m²

0.00129

Position covariance, element XZ

32

orientation_cov_xx

Float (5)

rad²

0.00013

Orientation covariance, element XX

33

orientation_cov_yy

Float (5)

rad²

0.00015

Orientation covariance, element YY

34

orientation_cov_zz

Float (5)

rad²

0.00014

Orientation covariance, element ZZ

35

orientation_cov_xy

Float (5)

rad²

-0.00001

Orientation covariance, element XY

36

orientation_cov_yz

Float (5)

rad²

0.00001

Orientation covariance, element YZ

37

orientation_cov_xz

Float (5)

rad²

0.00002

Orientation covariance, element XZ

38

vel_cov_xx

Float (5)

m²/s²

0.03482

Velocity covariance, element XX

39

vel_cov_yy

Float (5)

m²/s²

0.06244

Velocity covariance, element YY

40

vel_cov_zz

Float (5)

m²/s²

0.05480

Velocity covariance, element ZZ

41

vel_cov_xy

Float (5)

m²/s²

0.00096

Velocity covariance, element XY

42

vel_cov_yz

Float (5)

m²/s²

0.00509

Velocity covariance, element YZ

43

vel_cov_xz

Float (5)

m²/s²

0.00054

Velocity covariance, element XZ

44

sw_version

String

-

fp_release_vr2_2.54.0_160

Software version

0

Not started

1

Vision only

2

Visual inertial fusion

3

Inertial-GNSS fusion

4

Visual-inertial-GNSS fusion

0

Not converged

1

IMU bias converged

0

Unknown

1

No fix

2

Dead-reckoning only

3

Time-only fix

4

Single 2D fix

5

Single 3D fix

6

Single 3D fix with dead-reckoning

7

RTK float fix

8

RTK fixed fix

-1

No wheelspeed enabled

0

At least one wheelspeed enabled, no wheelspeed converged

1

At least one wheelspeed enabled and converged